Chintan Desai
1 year ago
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+0 -11stretch_moveit_config/.setup_assistant
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+0 -10stretch_moveit_config/CMakeLists.txt
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+0 -11stretch_moveit_config/LICENSE.md
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+0 -23stretch_moveit_config/README.md
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+0 -18stretch_moveit_config/config/chomp_planning.yaml
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+0 -16stretch_moveit_config/config/fake_controllers.yaml
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+0 -50stretch_moveit_config/config/joint_limits.yaml
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+0 -8stretch_moveit_config/config/kinematics.yaml
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+0 -210stretch_moveit_config/config/ompl_planning.yaml
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+0 -31stretch_moveit_config/config/ros_controllers.yaml
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+0 -10stretch_moveit_config/config/sensors_3d.yaml
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+0 -407stretch_moveit_config/config/stretch_description.srdf
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+0 -21stretch_moveit_config/launch/chomp_planning_pipeline.launch.xml
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+0 -15stretch_moveit_config/launch/default_warehouse_db.launch
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+0 -65stretch_moveit_config/launch/demo.launch
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+0 -61stretch_moveit_config/launch/demo_gazebo.launch
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+0 -9stretch_moveit_config/launch/fake_moveit_controller_manager.launch.xml
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+0 -23stretch_moveit_config/launch/gazebo.launch
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+0 -17stretch_moveit_config/launch/joystick_control.launch
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+0 -82stretch_moveit_config/launch/move_group.launch
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+0 -570stretch_moveit_config/launch/moveit.rviz
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+0 -15stretch_moveit_config/launch/moveit_rviz.launch
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+0 -24stretch_moveit_config/launch/ompl_planning_pipeline.launch.xml
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+0 -25stretch_moveit_config/launch/planning_context.launch
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+0 -10stretch_moveit_config/launch/planning_pipeline.launch.xml
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+0 -11stretch_moveit_config/launch/ros_controllers.launch
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+0 -21stretch_moveit_config/launch/run_benchmark_ompl.launch
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+0 -17stretch_moveit_config/launch/sensor_manager.launch.xml
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+0 -15stretch_moveit_config/launch/setup_assistant.launch
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+0 -10stretch_moveit_config/launch/stretch_description_moveit_controller_manager.launch.xml
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+0 -3stretch_moveit_config/launch/stretch_description_moveit_sensor_manager.launch.xml
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+0 -20stretch_moveit_config/launch/trajectory_execution.launch.xml
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+0 -15stretch_moveit_config/launch/warehouse.launch
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+0 -16stretch_moveit_config/launch/warehouse_settings.launch.xml
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+0 -34stretch_moveit_config/package.xml
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stretch_moveit_config/.setup_assistant
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| moveit_setup_assistant_config: | |||
| URDF: | |||
| package: stretch_description | |||
| relative_path: urdf/stretch_description.xacro | |||
| xacro_args: "" | |||
| SRDF: | |||
| relative_path: config/stretch_description.srdf | |||
| CONFIG: | |||
| author_name: David V. Lu!! | |||
| author_email: davidvlu@gmail.com | |||
| generated_timestamp: 1602791794 | |||
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stretch_moveit_config/CMakeLists.txt
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| cmake_minimum_required(VERSION 3.1.3) | |||
| project(stretch_moveit_config) | |||
| find_package(catkin REQUIRED) | |||
| catkin_package() | |||
| install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | |||
| PATTERN "setup_assistant.launch" EXCLUDE) | |||
| install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) | |||
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stretch_moveit_config/LICENSE.md
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| The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc. | |||
| Copyright 2020 Hello Robot Inc. | |||
| The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents except in compliance with the License. You may obtain a copy of the License at | |||
| http://www.apache.org/licenses/LICENSE-2.0 | |||
| Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. | |||
| For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. | |||
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stretch_moveit_config/README.md
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|  | |||
| ## Stretch & MoveIt! | |||
| MoveIt is the standard ROS manipulation platform, and this package is the configuration for working with Stretch with the MoveIt framework. | |||
| ### Offline Demo | |||
| To experiment with the planning capabilities of MoveIt on Stretch, you can run a demo _without_ Stretch hardware. | |||
| roslaunch stretch_moveit_config demo.launch | |||
| This will allow you to move the robot around using interactive markers and create plans between poses. | |||
| ### Hardware Integration | |||
| There is no planned support to run MoveIt on Stretch hardware. Instead, support for running MoveIt 2 (the successor to MoveIt) on Stretch hardware is being developed in [Stretch's ROS2 packages](https://github.com/hello-robot/stretch_ros2/). The primary reason to support MoveIt 2 instead of MoveIt 1 is because MoveIt 2 introduces planning for differential drive bases, whereas MoveIt 1 does not have this ability. Manipulation with Stretch is more capable when the mobile base is included. | |||
| Please keep an eye on [Stretch's ROS2 packages](https://github.com/hello-robot/stretch_ros2/) and our [forum](https://forum.hello-robot.com/) to track the state of Stretch + MoveIt 2 support. | |||
| ## License | |||
| For license information, please see the LICENSE files. | |||
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stretch_moveit_config/config/chomp_planning.yaml
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| planning_time_limit: 10.0 | |||
| max_iterations: 200 | |||
| max_iterations_after_collision_free: 5 | |||
| smoothness_cost_weight: 0.1 | |||
| obstacle_cost_weight: 1.0 | |||
| learning_rate: 0.01 | |||
| smoothness_cost_velocity: 0.0 | |||
| smoothness_cost_acceleration: 1.0 | |||
| smoothness_cost_jerk: 0.0 | |||
| ridge_factor: 0.01 | |||
| use_pseudo_inverse: false | |||
| pseudo_inverse_ridge_factor: 1e-4 | |||
| joint_update_limit: 0.1 | |||
| collision_clearence: 0.2 | |||
| collision_threshold: 0.07 | |||
| use_stochastic_descent: true | |||
| enable_failure_recovery: true | |||
| max_recovery_attempts: 5 | |||
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stretch_moveit_config/config/fake_controllers.yaml
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| controller_list: | |||
| - name: fake_stretch_arm_controller | |||
| joints: | |||
| - joint_lift | |||
| - joint_arm_l3 | |||
| - joint_arm_l2 | |||
| - joint_arm_l1 | |||
| - joint_arm_l0 | |||
| - joint_wrist_yaw | |||
| - name: fake_gripper_controller | |||
| joints: | |||
| - joint_gripper_finger_left | |||
| - joint_gripper_finger_right | |||
| initial: # Define initial robot poses. | |||
| - group: stretch_arm | |||
| pose: home | |||
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stretch_moveit_config/config/joint_limits.yaml
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| # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed | |||
| # For beginners, we downscale velocity and acceleration limits. | |||
| # You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. | |||
| default_velocity_scaling_factor: 0.1 | |||
| default_acceleration_scaling_factor: 0.1 | |||
| # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] | |||
| # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] | |||
| joint_limits: | |||
| joint_arm_l0: | |||
| has_velocity_limits: true | |||
| max_velocity: 1 | |||
| has_acceleration_limits: false | |||
| max_acceleration: 0 | |||
| joint_arm_l1: | |||
| has_velocity_limits: true | |||
| max_velocity: 1 | |||
| has_acceleration_limits: false | |||
| max_acceleration: 0 | |||
| joint_arm_l2: | |||
| has_velocity_limits: true | |||
| max_velocity: 1 | |||
| has_acceleration_limits: false | |||
| max_acceleration: 0 | |||
| joint_arm_l3: | |||
| has_velocity_limits: true | |||
| max_velocity: 1 | |||
| has_acceleration_limits: false | |||
| max_acceleration: 0 | |||
| joint_gripper_finger_left: | |||
| has_velocity_limits: true | |||
| max_velocity: 1 | |||
| has_acceleration_limits: false | |||
| max_acceleration: 0 | |||
| joint_gripper_finger_right: | |||
| has_velocity_limits: true | |||
| max_velocity: 1 | |||
| has_acceleration_limits: false | |||
| max_acceleration: 0 | |||
| joint_lift: | |||
| has_velocity_limits: true | |||
| max_velocity: 1 | |||
| has_acceleration_limits: false | |||
| max_acceleration: 0 | |||
| joint_wrist_yaw: | |||
| has_velocity_limits: true | |||
| max_velocity: 1 | |||
| has_acceleration_limits: false | |||
| max_acceleration: 0 | |||
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stretch_moveit_config/config/kinematics.yaml
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| stretch_arm: | |||
| kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin | |||
| kinematics_solver_search_resolution: 0.005 | |||
| kinematics_solver_timeout: 0.005 | |||
| stretch_head: | |||
| kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin | |||
| kinematics_solver_search_resolution: 0.005 | |||
| kinematics_solver_timeout: 0.1 | |||
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stretch_moveit_config/config/ompl_planning.yaml
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| planner_configs: | |||
| AnytimePathShortening: | |||
| type: geometric::AnytimePathShortening | |||
| shortcut: true # Attempt to shortcut all new solution paths | |||
| hybridize: true # Compute hybrid solution trajectories | |||
| max_hybrid_paths: 24 # Number of hybrid paths generated per iteration | |||
| num_planners: 4 # The number of default planners to use for planning | |||
| planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" | |||
| SBL: | |||
| type: geometric::SBL | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| EST: | |||
| type: geometric::EST | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() | |||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | |||
| LBKPIECE: | |||
| type: geometric::LBKPIECE | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 | |||
| min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 | |||
| BKPIECE: | |||
| type: geometric::BKPIECE | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 | |||
| failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 | |||
| min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 | |||
| KPIECE: | |||
| type: geometric::KPIECE | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | |||
| border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] | |||
| failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 | |||
| min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 | |||
| RRT: | |||
| type: geometric::RRT | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 | |||
| RRTConnect: | |||
| type: geometric::RRTConnect | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| RRTstar: | |||
| type: geometric::RRTstar | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 | |||
| delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 | |||
| TRRT: | |||
| type: geometric::TRRT | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 | |||
| max_states_failed: 10 # when to start increasing temp. default: 10 | |||
| temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 | |||
| min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 | |||
| init_temperature: 10e-6 # initial temperature. default: 10e-6 | |||
| frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() | |||
| frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 | |||
| k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() | |||
| PRM: | |||
| type: geometric::PRM | |||
| max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 | |||
| PRMstar: | |||
| type: geometric::PRMstar | |||
| FMT: | |||
| type: geometric::FMT | |||
| num_samples: 1000 # number of states that the planner should sample. default: 1000 | |||
| radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 | |||
| nearest_k: 1 # use Knearest strategy. default: 1 | |||
| cache_cc: 1 # use collision checking cache. default: 1 | |||
| heuristics: 0 # activate cost to go heuristics. default: 0 | |||
| extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 | |||
| BFMT: | |||
| type: geometric::BFMT | |||
| num_samples: 1000 # number of states that the planner should sample. default: 1000 | |||
| radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 | |||
| nearest_k: 1 # use the Knearest strategy. default: 1 | |||
| balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 | |||
| optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 | |||
| heuristics: 1 # activates cost to go heuristics. default: 1 | |||
| cache_cc: 1 # use the collision checking cache. default: 1 | |||
| extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 | |||
| PDST: | |||
| type: geometric::PDST | |||
| STRIDE: | |||
| type: geometric::STRIDE | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | |||
| use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 | |||
| degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 | |||
| max_degree: 18 # max degree of a node in the GNAT. default: 12 | |||
| min_degree: 12 # min degree of a node in the GNAT. default: 12 | |||
| max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 | |||
| estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 | |||
| min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 | |||
| BiTRRT: | |||
| type: geometric::BiTRRT | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 | |||
| init_temperature: 100 # initial temperature. default: 100 | |||
| frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() | |||
| frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 | |||
| cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf | |||
| LBTRRT: | |||
| type: geometric::LBTRRT | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | |||
| epsilon: 0.4 # optimality approximation factor. default: 0.4 | |||
| BiEST: | |||
| type: geometric::BiEST | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| ProjEST: | |||
| type: geometric::ProjEST | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 | |||
| LazyPRM: | |||
| type: geometric::LazyPRM | |||
| range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() | |||
| LazyPRMstar: | |||
| type: geometric::LazyPRMstar | |||
| SPARS: | |||
| type: geometric::SPARS | |||
| stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 | |||
| sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 | |||
| dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 | |||
| max_failures: 1000 # maximum consecutive failure limit. default: 1000 | |||
| SPARStwo: | |||
| type: geometric::SPARStwo | |||
| stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 | |||
| sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 | |||
| dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 | |||
| max_failures: 5000 # maximum consecutive failure limit. default: 5000 | |||
| stretch_arm: | |||
| default_planner_config: RRTConnect | |||
| planner_configs: | |||
| - AnytimePathShortening | |||
| - SBL | |||
| - EST | |||
| - LBKPIECE | |||
| - BKPIECE | |||
| - KPIECE | |||
| - RRT | |||
| - RRTConnect | |||
| - RRTstar | |||
| - TRRT | |||
| - PRM | |||
| - PRMstar | |||
| - FMT | |||
| - BFMT | |||
| - PDST | |||
| - STRIDE | |||
| - BiTRRT | |||
| - LBTRRT | |||
| - BiEST | |||
| - ProjEST | |||
| - LazyPRM | |||
| - LazyPRMstar | |||
| - SPARS | |||
| - SPARStwo | |||
| stretch_gripper: | |||
| default_planner_config: RRTConnect | |||
| planner_configs: | |||
| - AnytimePathShortening | |||
| - SBL | |||
| - EST | |||
| - LBKPIECE | |||
| - BKPIECE | |||
| - KPIECE | |||
| - RRT | |||
| - RRTConnect | |||
| - RRTstar | |||
| - TRRT | |||
| - PRM | |||
| - PRMstar | |||
| - FMT | |||
| - BFMT | |||
| - PDST | |||
| - STRIDE | |||
| - BiTRRT | |||
| - LBTRRT | |||
| - BiEST | |||
| - ProjEST | |||
| - LazyPRM | |||
| - LazyPRMstar | |||
| - SPARS | |||
| - SPARStwo | |||
| stretch_head: | |||
| default_planner_config: RRTConnect | |||
| planner_configs: | |||
| - AnytimePathShortening | |||
| - SBL | |||
| - EST | |||
| - LBKPIECE | |||
| - BKPIECE | |||
| - KPIECE | |||
| - RRT | |||
| - RRTConnect | |||
| - RRTstar | |||
| - TRRT | |||
| - PRM | |||
| - PRMstar | |||
| - FMT | |||
| - BFMT | |||
| - PDST | |||
| - STRIDE | |||
| - BiTRRT | |||
| - LBTRRT | |||
| - BiEST | |||
| - ProjEST | |||
| - LazyPRM | |||
| - LazyPRMstar | |||
| - SPARS | |||
| - SPARStwo | |||
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stretch_moveit_config/config/ros_controllers.yaml
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| # Publish all joint states | |||
| # Creates the /joint_states topic necessary in ROS | |||
| joint_state_controller: | |||
| type: joint_state_controller/JointStateController | |||
| publish_rate: 50 | |||
| controller_list: | |||
| - name: stretch_arm_controller | |||
| action_ns: follow_joint_trajectory | |||
| default: True | |||
| type: FollowJointTrajectory | |||
| joints: | |||
| - joint_lift | |||
| - joint_arm_l3 | |||
| - joint_arm_l2 | |||
| - joint_arm_l1 | |||
| - joint_arm_l0 | |||
| - joint_wrist_yaw | |||
| - name: stretch_head_controller | |||
| action_ns: follow_joint_trajectory | |||
| default: True | |||
| type: FollowJointTrajectory | |||
| joints: | |||
| - joint_head_pan | |||
| - joint_head_tilt | |||
| - name: stretch_gripper_controller | |||
| action_ns: follow_joint_trajectory | |||
| default: True | |||
| type: FollowJointTrajectory | |||
| joints: | |||
| - joint_gripper_finger_left | |||
| - joint_gripper_finger_right | |||
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stretch_moveit_config/config/sensors_3d.yaml
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| # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it | |||
| sensors: | |||
| - filtered_cloud_topic: filtered_cloud | |||
| max_range: 5.0 | |||
| max_update_rate: 1.0 | |||
| padding_offset: 0.1 | |||
| padding_scale: 1.0 | |||
| point_cloud_topic: /head_mount_kinect/depth_registered/points | |||
| point_subsample: 1 | |||
| sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater | |||
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stretch_moveit_config/config/stretch_description.srdf
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| @ -1,408 +0,0 @@ | |||
| <?xml version="1.0" encoding="UTF-8"?> | |||
| <!--This does not replace URDF, and is not an extension of URDF. | |||
| This is a format for representing semantic information about the robot structure. | |||
| A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined | |||
| <robot name="stretch"> | |||
| <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc--> | |||
| <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included--> | |||
| <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included--> | |||
| <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group--> | |||
| <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names--> | |||
| <group name="stretch_arm"> | |||
| <joint name="joint_lift"/> | |||
| <joint name="joint_arm_l4"/> | |||
| <joint name="joint_arm_l3"/> | |||
| <joint name="joint_arm_l2"/> | |||
| <joint name="joint_arm_l1"/> | |||
| <joint name="joint_arm_l0"/> | |||
| <joint name="joint_wrist_yaw"/> | |||
| </group> | |||
| <group name="stretch_gripper"> | |||
| <link name="link_gripper"/> | |||
| <link name="link_grasp_center"/> | |||
| <link name="link_gripper_finger_left"/> | |||
| <link name="link_gripper_finger_right"/> | |||
| <link name="link_gripper_fingertip_left"/> | |||
| <link name="link_gripper_fingertip_right"/> | |||
| </group> | |||
| <group name="stretch_head"> | |||
| <joint name="joint_head_pan" /> | |||
| <joint name="joint_head_tilt" /> | |||
| <link name="camera_link"/> | |||
| </group> | |||
| <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'--> | |||
| <group_state name="home" group="stretch_arm"> | |||
| <joint name="joint_arm_l0" value="0"/> | |||
| <joint name="joint_arm_l1" value="0"/> | |||
| <joint name="joint_arm_l2" value="0"/> | |||
| <joint name="joint_arm_l3" value="0"/> | |||
| <joint name="joint_lift" value="0"/> | |||
| <joint name="joint_wrist_yaw" value="0"/> | |||
| </group_state> | |||
| <group_state name="extended" group="stretch_arm"> | |||
| <joint name="joint_arm_l0" value="0.13"/> | |||
| <joint name="joint_arm_l1" value="0.13"/> | |||
| <joint name="joint_arm_l2" value="0.13"/> | |||
| <joint name="joint_arm_l3" value="0.13"/> | |||
| <joint name="joint_lift" value="0.9967"/> | |||
| <joint name="joint_wrist_yaw" value="4"/> | |||
| </group_state> | |||
| <group_state name="home" group="stretch_head"> | |||
| <joint name="joint_head_pan" value="0.0"/> | |||
| <joint name="joint_head_tilt" value="0.0"/> | |||
| </group_state> | |||
| <group_state name="low_head" group="stretch_head"> | |||
| <joint name="joint_head_pan" value="-3.5"/> | |||
| <joint name="joint_head_tilt" value="-1.2"/> | |||
| </group_state> | |||
| <group_state name="high_head" group="stretch_head"> | |||
| <joint name="joint_head_pan" value="1.0"/> | |||
| <joint name="joint_head_tilt" value="0.5"/> | |||
| </group_state> | |||
| <group_state name="open" group="stretch_gripper"> | |||
| <joint name="joint_gripper_finger_left" value="0.3"/> | |||
| <joint name="joint_gripper_finger_right" value="0.3"/> | |||
| </group_state> | |||
| <group_state name="closed" group="stretch_gripper"> | |||
| <joint name="joint_gripper_finger_left" value="0.0"/> | |||
| <joint name="joint_gripper_finger_right" value="0.0"/> | |||
| </group_state> | |||
| <!--END EFFECTOR: Purpose: Represent information about an end effector.--> | |||
| <end_effector name="gripper" parent_link="link_grasp_center" group="stretch_arm"/> | |||
| <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> | |||
| <!--virtual_joint name="position" type="floating" parent_frame="map" child_link="base_link"/--> | |||
| <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. --> | |||
| <disable_collisions link1="base_link" link2="camera_link" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="laser" reason="Adjacent"/> | |||
| <disable_collisions link1="base_link" link2="link_arm_l0" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_arm_l1" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_arm_l2" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_arm_l3" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_arm_l4" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_aruco_inner_wrist" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_aruco_left_base" reason="Adjacent"/> | |||
| <disable_collisions link1="base_link" link2="link_aruco_right_base" reason="Adjacent"/> | |||
| <disable_collisions link1="base_link" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_left_wheel" reason="Adjacent"/> | |||
| <disable_collisions link1="base_link" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="link_mast" reason="Adjacent"/> | |||
| <disable_collisions link1="base_link" link2="link_right_wheel" reason="Adjacent"/> | |||
| <disable_collisions link1="base_link" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="base_link" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="laser" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_arm_l0" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_arm_l1" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_arm_l2" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_arm_l3" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_arm_l4" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_aruco_inner_wrist" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_aruco_left_base" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_aruco_right_base" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_head_tilt" reason="Adjacent"/> | |||
| <disable_collisions link1="camera_link" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="camera_link" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_arm_l0" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_arm_l1" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_arm_l2" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_arm_l3" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_arm_l4" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_aruco_inner_wrist" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_aruco_left_base" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_aruco_right_base" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="laser" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_arm_l1" reason="Adjacent"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_arm_l2" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_arm_l3" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_arm_l4" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_aruco_inner_wrist" reason="Adjacent"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_aruco_left_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_aruco_right_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_aruco_top_wrist" reason="Adjacent"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l0" link2="link_wrist_yaw" reason="Adjacent"/> | |||
| <disable_collisions link1="link_arm_l0" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_arm_l2" reason="Adjacent"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_arm_l3" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_arm_l4" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_aruco_inner_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_aruco_left_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_aruco_right_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l1" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_arm_l3" reason="Adjacent"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_arm_l4" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_aruco_inner_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_aruco_left_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_aruco_right_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l2" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_arm_l4" reason="Adjacent"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_aruco_inner_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_aruco_left_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_aruco_right_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l3" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_aruco_inner_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_aruco_left_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_aruco_right_base" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_lift" reason="Adjacent"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_arm_l4" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_aruco_left_base" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_aruco_right_base" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_inner_wrist" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_aruco_right_base" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_left_base" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_aruco_shoulder" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_gripper" reason="Default"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_right_base" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_aruco_top_wrist" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_lift" reason="Adjacent"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_shoulder" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_gripper" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_gripper_finger_left" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_gripper_finger_right" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_aruco_top_wrist" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_gripper" link2="link_gripper_finger_left" reason="Adjacent"/> | |||
| <disable_collisions link1="link_gripper" link2="link_gripper_finger_right" reason="Adjacent"/> | |||
| <disable_collisions link1="link_gripper" link2="link_gripper_fingertip_left" reason="Never"/> | |||
| <disable_collisions link1="link_gripper" link2="link_gripper_fingertip_right" reason="Never"/> | |||
| <disable_collisions link1="link_gripper" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_gripper" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_gripper" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_gripper" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_gripper" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_gripper" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_gripper" link2="link_wrist_yaw" reason="Adjacent"/> | |||
| <disable_collisions link1="link_gripper" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_left" link2="link_gripper_fingertip_left" reason="Adjacent"/> | |||
| <disable_collisions link1="link_gripper_finger_left" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_left" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_left" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_left" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_left" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_left" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_left" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_left" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_right" link2="link_gripper_fingertip_right" reason="Adjacent"/> | |||
| <disable_collisions link1="link_gripper_finger_right" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_right" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_right" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_right" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_right" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_right" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_right" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_finger_right" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_left" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_left" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_left" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_left" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_left" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_left" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_left" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_left" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_right" link2="link_head" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_right" link2="link_head_pan" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_right" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_right" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_right" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_right" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_right" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_gripper_fingertip_right" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_head" link2="link_head_pan" reason="Adjacent"/> | |||
| <disable_collisions link1="link_head" link2="link_head_tilt" reason="Never"/> | |||
| <disable_collisions link1="link_head" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_head" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_head" link2="link_mast" reason="Adjacent"/> | |||
| <disable_collisions link1="link_head" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_head" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_head" link2="respeaker_base" reason="Default"/> | |||
| <disable_collisions link1="link_head_pan" link2="link_head_tilt" reason="Adjacent"/> | |||
| <disable_collisions link1="link_head_pan" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_head_pan" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_head_pan" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_head_pan" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_head_pan" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_head_pan" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_head_tilt" link2="link_left_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_head_tilt" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_head_tilt" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_head_tilt" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_head_tilt" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_head_tilt" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_left_wheel" link2="link_lift" reason="Never"/> | |||
| <disable_collisions link1="link_left_wheel" link2="link_mast" reason="Never"/> | |||
| <disable_collisions link1="link_left_wheel" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_left_wheel" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_left_wheel" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_lift" link2="link_mast" reason="Adjacent"/> | |||
| <disable_collisions link1="link_lift" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_lift" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_lift" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_mast" link2="link_right_wheel" reason="Never"/> | |||
| <disable_collisions link1="link_mast" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_mast" link2="respeaker_base" reason="Adjacent"/> | |||
| <disable_collisions link1="link_right_wheel" link2="link_wrist_yaw" reason="Never"/> | |||
| <disable_collisions link1="link_right_wheel" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="link_wrist_yaw" link2="respeaker_base" reason="Never"/> | |||
| <disable_collisions link1="caster_link" link2="base_link" reason="Adjacent"/> | |||
| </robot> | |||
+ 0
- 21
stretch_moveit_config/launch/chomp_planning_pipeline.launch.xml
View File
| @ -1,21 +0,0 @@ | |||
| <launch> | |||
| <!-- CHOMP Plugin for MoveIt --> | |||
| <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" /> | |||
| <arg name="start_state_max_bounds_error" value="0.1" /> | |||
| <!-- The request adapters (plugins) used when planning. | |||
| ORDER MATTERS --> | |||
| <arg name="planning_adapters" | |||
| value="default_planner_request_adapters/AddTimeParameterization | |||
| default_planner_request_adapters/ResolveConstraintFrames | |||
| default_planner_request_adapters/FixWorkspaceBounds | |||
| default_planner_request_adapters/FixStartStateBounds | |||
| default_planner_request_adapters/FixStartStateCollision | |||
| default_planner_request_adapters/FixStartStatePathConstraints" | |||
| /> | |||
| <param name="planning_plugin" value="$(arg planning_plugin)" /> | |||
| <param name="request_adapters" value="$(arg planning_adapters)" /> | |||
| <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> | |||
| <rosparam command="load" file="$(find stretch_moveit_config)/config/chomp_planning.yaml" /> | |||
| </launch> | |||
+ 0
- 15
stretch_moveit_config/launch/default_warehouse_db.launch
View File
| @ -1,15 +0,0 @@ | |||
| <launch> | |||
| <arg name="reset" default="false"/> | |||
| <!-- If not specified, we'll use a default database location --> | |||
| <arg name="moveit_warehouse_database_path" default="$(find stretch_moveit_config)/default_warehouse_mongo_db" /> | |||
| <!-- Launch the warehouse with the configured database location --> | |||
| <include file="$(find stretch_moveit_config)/launch/warehouse.launch"> | |||
| <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" /> | |||
| </include> | |||
| <!-- If we want to reset the database, run this node --> | |||
| <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" /> | |||
| </launch> | |||
+ 0
- 65
stretch_moveit_config/launch/demo.launch
View File
| @ -1,65 +0,0 @@ | |||
| <launch> | |||
| <!-- specify the planning pipeline --> | |||
| <arg name="pipeline" default="ompl" /> | |||
| <!-- By default, we do not start a database (it can be large) --> | |||
| <arg name="db" default="false" /> | |||
| <!-- Allow user to specify database location --> | |||
| <arg name="db_path" default="$(find stretch_moveit_config)/default_warehouse_mongo_db" /> | |||
| <!-- By default, we are not in debug mode --> | |||
| <arg name="debug" default="false" /> | |||
| <!-- | |||
| By default, hide joint_state_publisher's GUI | |||
| MoveIt's "demo" mode replaces the real robot driver with the joint_state_publisher. | |||
| The latter one maintains and publishes the current joint configuration of the simulated robot. | |||
| It also provides a GUI to move the simulated robot around "manually". | |||
| This corresponds to moving around the real robot without the use of MoveIt. | |||
| --> | |||
| <arg name="use_gui" default="false" /> | |||
| <arg name="use_rviz" default="true" /> | |||
| <!-- Load the URDF, SRDF and other .yaml configuration files on the param server --> | |||
| <include file="$(find stretch_moveit_config)/launch/planning_context.launch"> | |||
| <arg name="load_robot_description" value="true"/> | |||
| </include> | |||
| <!-- If needed, broadcast static tf for robot root --> | |||
| <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 map base_link" /> | |||
| <!-- We do not have a robot connected, so publish fake joint states --> | |||
| <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> | |||
| <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> | |||
| </node> | |||
| <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> | |||
| <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> | |||
| </node> | |||
| <!-- Given the published joint states, publish tf for the robot links --> | |||
| <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /> | |||
| <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) --> | |||
| <include file="$(find stretch_moveit_config)/launch/move_group.launch"> | |||
| <arg name="allow_trajectory_execution" value="true"/> | |||
| <arg name="fake_execution" value="true"/> | |||
| <arg name="info" value="true"/> | |||
| <arg name="debug" value="$(arg debug)"/> | |||
| <arg name="pipeline" value="$(arg pipeline)"/> | |||
| </include> | |||
| <!-- Run Rviz and load the default config to see the state of the move_group node --> | |||
| <include file="$(find stretch_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)"> | |||
| <arg name="rviz_config" value="$(find stretch_moveit_config)/launch/moveit.rviz"/> | |||
| <arg name="debug" value="$(arg debug)"/> | |||
| </include> | |||
| <!-- If database loading was enabled, start mongodb as well --> | |||
| <include file="$(find stretch_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> | |||
| <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> | |||
| </include> | |||
| </launch> | |||
+ 0
- 61
stretch_moveit_config/launch/demo_gazebo.launch
View File
| @ -1,61 +0,0 @@ | |||
| <launch> | |||
| <!-- By default, we do not start a database (it can be large) --> | |||
| <arg name="db" default="false" /> | |||
| <!-- Allow user to specify database location --> | |||
| <arg name="db_path" default="$(find stretch_moveit_config)/default_warehouse_mongo_db" /> | |||
| <!-- By default, we are not in debug mode --> | |||
| <arg name="debug" default="false" /> | |||
| <!-- | |||
| By default, hide joint_state_publisher's GUI | |||
| MoveIt's "demo" mode replaces the real robot driver with the joint_state_publisher. | |||
| The latter one maintains and publishes the current joint configuration of the simulated robot. | |||
| It also provides a GUI to move the simulated robot around "manually". | |||
| This corresponds to moving around the real robot without the use of MoveIt. | |||
| --> | |||
| <arg name="use_gui" default="false" /> | |||
| <!-- Gazebo specific options --> | |||
| <arg name="gazebo_gui" default="true"/> | |||
| <arg name="paused" default="false"/> | |||
| <!-- By default, use the urdf location provided from the package --> | |||
| <arg name="urdf_path" default="$(find stretch_description)/urdf/stretch_description.xacro"/> | |||
| <!-- launch the gazebo simulator and spawn the robot --> | |||
| <!-- <include file="$(find stretch_gazebo)/launch/gazebo.launch" > | |||
| <arg name="rviz" value="false"/> | |||
| </include> --> | |||
| <!-- Load the URDF, SRDF and other .yaml configuration files on the param server --> | |||
| <include file="$(find stretch_moveit_config)/launch/planning_context.launch"> | |||
| <arg name="load_robot_description" value="true"/> | |||
| </include> | |||
| <!-- If needed, broadcast static tf for robot root --> | |||
| <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 map base_link" /> | |||
| <!-- Given the published joint states, publish tf for the robot links --> | |||
| <!-- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /> --> | |||
| <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) --> | |||
| <include file="$(find stretch_moveit_config)/launch/move_group.launch"> | |||
| <arg name="allow_trajectory_execution" value="true"/> | |||
| <arg name="info" value="true"/> | |||
| <arg name="debug" value="$(arg debug)"/> | |||
| </include> | |||
| <!-- Run Rviz and load the default config to see the state of the move_group node --> | |||
| <include file="$(find stretch_moveit_config)/launch/moveit_rviz.launch"> | |||
| <arg name="rviz_config" value="$(find stretch_moveit_config)/launch/moveit.rviz"/> | |||
| <arg name="debug" value="$(arg debug)"/> | |||
| </include> | |||
| <!-- If database loading was enabled, start mongodb as well --> | |||
| <include file="$(find stretch_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> | |||
| <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> | |||
| </include> | |||
| </launch> | |||
+ 0
- 9
stretch_moveit_config/launch/fake_moveit_controller_manager.launch.xml
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| @ -1,9 +0,0 @@ | |||
| <launch> | |||
| <!-- Set the param that trajectory_execution_manager needs to find the controller plugin --> | |||
| <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/> | |||
| <!-- The rest of the params are specific to this plugin --> | |||
| <rosparam file="$(find stretch_moveit_config)/config/fake_controllers.yaml"/> | |||
| </launch> | |||
+ 0
- 23
stretch_moveit_config/launch/gazebo.launch
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| @ -1,23 +0,0 @@ | |||
| <?xml version="1.0"?> | |||
| <launch> | |||
| <arg name="paused" default="false"/> | |||
| <arg name="gazebo_gui" default="true"/> | |||
| <arg name="urdf_path" default="$(find stretch_description)/urdf/stretch_description.xacro"/> | |||
| <!-- startup simulated world --> | |||
| <include file="$(find gazebo_ros)/launch/empty_world.launch"> | |||
| <arg name="world_name" default="worlds/empty.world"/> | |||
| <arg name="paused" value="$(arg paused)"/> | |||
| <arg name="gui" value="$(arg gazebo_gui)"/> | |||
| </include> | |||
| <!-- send robot urdf to param server --> | |||
| <param name="robot_description" textfile="$(arg urdf_path)" /> | |||
| <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position --> | |||
| <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0" | |||
| respawn="false" output="screen" /> | |||
| <include file="$(find stretch_moveit_config)/launch/ros_controllers.launch"/> | |||
| </launch> | |||
+ 0
- 17
stretch_moveit_config/launch/joystick_control.launch
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| @ -1,17 +0,0 @@ | |||
| <launch> | |||
| <!-- See moveit_ros/visualization/doc/joystick.rst for documentation --> | |||
| <arg name="dev" default="/dev/input/js0" /> | |||
| <!-- Launch joy node --> | |||
| <node pkg="joy" type="joy_node" name="joy"> | |||
| <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on--> | |||
| <param name="deadzone" value="0.2" /> | |||
| <param name="autorepeat_rate" value="40" /> | |||
| <param name="coalesce_interval" value="0.025" /> | |||
| </node> | |||
| <!-- Launch python interface --> | |||
| <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/> | |||
| </launch> | |||
+ 0
- 82
stretch_moveit_config/launch/move_group.launch
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| @ -1,82 +0,0 @@ | |||
| <launch> | |||
| <!-- GDB Debug Option --> | |||
| <arg name="debug" default="false" /> | |||
| <arg unless="$(arg debug)" name="launch_prefix" value="" /> | |||
| <arg if="$(arg debug)" name="launch_prefix" | |||
| value="gdb -x $(find stretch_moveit_config)/launch/gdb_settings.gdb --ex run --args" /> | |||
| <!-- Verbose Mode Option --> | |||
| <arg name="info" default="$(arg debug)" /> | |||
| <arg unless="$(arg info)" name="command_args" value="" /> | |||
| <arg if="$(arg info)" name="command_args" value="--debug" /> | |||
| <!-- move_group settings --> | |||
| <arg name="pipeline" default="ompl" /> | |||
| <arg name="allow_trajectory_execution" default="true"/> | |||
| <arg name="fake_execution" default="false"/> | |||
| <arg name="max_safe_path_cost" default="1"/> | |||
| <arg name="jiggle_fraction" default="0.05" /> | |||
| <arg name="publish_monitored_planning_scene" default="true"/> | |||
| <arg name="capabilities" default=""/> | |||
| <arg name="disable_capabilities" default=""/> | |||
| <!-- load these non-default MoveGroup capabilities (space seperated) --> | |||
| <!-- | |||
| <arg name="capabilities" value=" | |||
| a_package/AwsomeMotionPlanningCapability | |||
| another_package/GraspPlanningPipeline | |||
| " /> | |||
| --> | |||
| <!-- inhibit these default MoveGroup capabilities (space seperated) --> | |||
| <!-- | |||
| <arg name="disable_capabilities" value=" | |||
| move_group/MoveGroupKinematicsService | |||
| move_group/ClearOctomapService | |||
| " /> | |||
| --> | |||
| <arg name="load_robot_description" default="true" /> | |||
| <!-- load URDF, SRDF and joint_limits configuration --> | |||
| <include file="$(find stretch_moveit_config)/launch/planning_context.launch"> | |||
| <arg name="load_robot_description" value="$(arg load_robot_description)" /> | |||
| </include> | |||
| <!-- Planning Functionality --> | |||
| <include ns="move_group" file="$(find stretch_moveit_config)/launch/planning_pipeline.launch.xml"> | |||
| <arg name="pipeline" value="$(arg pipeline)" /> | |||
| </include> | |||
| <!-- Trajectory Execution Functionality --> | |||
| <include ns="move_group" file="$(find stretch_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)"> | |||
| <arg name="moveit_manage_controllers" value="true" /> | |||
| <arg name="moveit_controller_manager" value="stretch_description" unless="$(arg fake_execution)"/> | |||
| <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/> | |||
| </include> | |||
| <!-- Sensors Functionality --> | |||
| <include ns="move_group" file="$(find stretch_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)"> | |||
| <arg name="moveit_sensor_manager" value="stretch_description" /> | |||
| </include> | |||
| <!-- Start the actual move_group node/action server --> | |||
| <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)"> | |||
| <!-- Set the display variable, in case OpenGL code is used internally --> | |||
| <env name="DISPLAY" value="$(optenv DISPLAY :0)" /> | |||
| <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/> | |||
| <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/> | |||
| <param name="jiggle_fraction" value="$(arg jiggle_fraction)" /> | |||
| <param name="capabilities" value="$(arg capabilities)"/> | |||
| <param name="disable_capabilities" value="$(arg disable_capabilities)"/> | |||
| <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot --> | |||
| <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" /> | |||
| <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" /> | |||
| <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" /> | |||
| <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" /> | |||
| </node> | |||
| </launch> | |||
+ 0
- 570
stretch_moveit_config/launch/moveit.rviz
View File
| @ -1,570 +0,0 @@ | |||
| Panels: | |||
| - Class: rviz/Displays | |||
| Help Height: 84 | |||
| Name: Displays | |||
| Property Tree Widget: | |||
| Expanded: | |||
| - /MotionPlanning1 | |||
| Splitter Ratio: 0.7425600290298462 | |||
| Tree Height: 351 | |||
| - Class: rviz/Help | |||
| Name: Help | |||
| - Class: rviz/Views | |||
| Expanded: | |||
| - /Current View1 | |||
| Name: Views | |||
| Splitter Ratio: 0.5 | |||
| Preferences: | |||
| PromptSaveOnExit: true | |||
| Toolbars: | |||
| toolButtonStyle: 2 | |||
| Visualization Manager: | |||
| Class: "" | |||
| Displays: | |||
| - Alpha: 0.5 | |||
| Cell Size: 1 | |||
| Class: rviz/Grid | |||
| Color: 160; 160; 164 | |||
| Enabled: true | |||
| Line Style: | |||
| Line Width: 0.029999999329447746 | |||
| Value: Lines | |||
| Name: Grid | |||
| Normal Cell Count: 0 | |||
| Offset: | |||
| X: 0 | |||
| Y: 0 | |||
| Z: 0 | |||
| Plane: XY | |||
| Plane Cell Count: 10 | |||
| Reference Frame: <Fixed Frame> | |||
| Value: true | |||
| - Acceleration_Scaling_Factor: 1 | |||
| Class: moveit_rviz_plugin/MotionPlanning | |||
| Enabled: true | |||
| Move Group Namespace: "" | |||
| MoveIt_Allow_Approximate_IK: true | |||
| MoveIt_Allow_External_Program: false | |||
| MoveIt_Allow_Replanning: false | |||
| MoveIt_Allow_Sensor_Positioning: false | |||
| MoveIt_Planning_Attempts: 10 | |||
| MoveIt_Planning_Time: 5 | |||
| MoveIt_Use_Cartesian_Path: false | |||
| MoveIt_Use_Constraint_Aware_IK: true | |||
| MoveIt_Warehouse_Host: 127.0.0.1 | |||
| MoveIt_Warehouse_Port: 33829 | |||
| MoveIt_Workspace: | |||
| Center: | |||
| X: 0 | |||
| Y: 0 | |||
| Z: 0 | |||
| Size: | |||
| X: 2 | |||
| Y: 2 | |||
| Z: 2 | |||
| Name: MotionPlanning | |||
| Planned Path: | |||
| Color Enabled: false | |||
| Interrupt Display: false | |||
| Links: | |||
| All Links Enabled: true | |||
| Expand Joint Details: false | |||
| Expand Link Details: false | |||
| Expand Tree: false | |||
| Link Tree Style: Links in Alphabetic Order | |||
| base_link: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| camera_accel_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_accel_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_bottom_screw_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_color_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_color_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_depth_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_depth_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_gyro_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_gyro_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_infra1_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_infra1_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_infra2_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_infra2_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_link: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| caster_link: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| laser: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l0: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l1: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l2: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l3: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l4: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_inner_wrist: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_left_base: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_right_base: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_shoulder: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_top_wrist: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_grasp_center: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| link_gripper: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_gripper_finger_left: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_gripper_finger_right: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_gripper_fingertip_left: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_gripper_fingertip_right: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_head: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_head_pan: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_head_tilt: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_left_wheel: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_lift: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_mast: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_right_wheel: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_wrist_yaw: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| respeaker_base: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| Loop Animation: false | |||
| Robot Alpha: 0.5 | |||
| Robot Color: 150; 50; 150 | |||
| Show Robot Collision: false | |||
| Show Robot Visual: true | |||
| Show Trail: false | |||
| State Display Time: 0.05 s | |||
| Trail Step Size: 1 | |||
| Trajectory Topic: move_group/display_planned_path | |||
| Planning Metrics: | |||
| Payload: 1 | |||
| Show Joint Torques: false | |||
| Show Manipulability: false | |||
| Show Manipulability Index: false | |||
| Show Weight Limit: false | |||
| TextHeight: 0.07999999821186066 | |||
| Planning Request: | |||
| Colliding Link Color: 255; 0; 0 | |||
| Goal State Alpha: 1 | |||
| Goal State Color: 250; 128; 0 | |||
| Interactive Marker Size: 0 | |||
| Joint Violation Color: 255; 0; 255 | |||
| Planning Group: stretch_arm | |||
| Query Goal State: true | |||
| Query Start State: false | |||
| Show Workspace: false | |||
| Start State Alpha: 1 | |||
| Start State Color: 0; 255; 0 | |||
| Planning Scene Topic: move_group/monitored_planning_scene | |||
| Robot Description: robot_description | |||
| Scene Geometry: | |||
| Scene Alpha: 1 | |||
| Scene Color: 50; 230; 50 | |||
| Scene Display Time: 0.20000000298023224 | |||
| Show Scene Geometry: true | |||
| Voxel Coloring: Z-Axis | |||
| Voxel Rendering: Occupied Voxels | |||
| Scene Robot: | |||
| Attached Body Color: 150; 50; 150 | |||
| Links: | |||
| All Links Enabled: true | |||
| Expand Joint Details: false | |||
| Expand Link Details: false | |||
| Expand Tree: false | |||
| Link Tree Style: Links in Alphabetic Order | |||
| base_link: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| camera_accel_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_accel_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_bottom_screw_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_color_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_color_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_depth_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_depth_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_gyro_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_gyro_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_infra1_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_infra1_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_infra2_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_infra2_optical_frame: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| camera_link: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| caster_link: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| laser: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l0: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l1: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l2: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l3: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_arm_l4: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_inner_wrist: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_left_base: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_right_base: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_shoulder: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_aruco_top_wrist: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_grasp_center: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| link_gripper: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_gripper_finger_left: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_gripper_finger_right: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_gripper_fingertip_left: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_gripper_fingertip_right: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_head: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_head_pan: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_head_tilt: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_left_wheel: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_lift: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_mast: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_right_wheel: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| link_wrist_yaw: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| respeaker_base: | |||
| Alpha: 1 | |||
| Show Axes: false | |||
| Show Trail: false | |||
| Value: true | |||
| Robot Alpha: 0.5 | |||
| Show Robot Collision: false | |||
| Show Robot Visual: true | |||
| Value: true | |||
| Velocity_Scaling_Factor: 1 | |||
| Enabled: true | |||
| Global Options: | |||
| Background Color: 48; 48; 48 | |||
| Default Light: true | |||
| Fixed Frame: base_link | |||
| Frame Rate: 30 | |||
| Name: root | |||
| Tools: | |||
| - Class: rviz/Interact | |||
| Hide Inactive Objects: true | |||
| - Class: rviz/MoveCamera | |||
| - Class: rviz/Select | |||
| Value: true | |||
| Views: | |||
| Current: | |||
| Class: rviz/XYOrbit | |||
| Distance: 2.5615234375 | |||
| Enable Stereo Rendering: | |||
| Stereo Eye Separation: 0.05999999865889549 | |||
| Stereo Focal Distance: 1 | |||
| Swap Stereo Eyes: false | |||
| Value: false | |||
| Focal Point: | |||
| X: 0.11356700211763382 | |||
| Y: 0.10592000186443329 | |||
| Z: 2.2351800055275817e-7 | |||
| Focal Shape Fixed Size: true | |||
| Focal Shape Size: 0.05000000074505806 | |||
| Invert Z Axis: false | |||
| Name: Current View | |||
| Near Clip Distance: 0.009999999776482582 | |||
| Pitch: 0.5697969794273376 | |||
| Target Frame: base_link | |||
| Value: XYOrbit (rviz) | |||
| Yaw: 5.364950656890869 | |||
| Saved: ~ | |||
| Window Geometry: | |||
| Displays: | |||
| collapsed: false | |||
| Height: 1052 | |||
| Help: | |||
| collapsed: false | |||
| Hide Left Dock: false | |||
| Hide Right Dock: false | |||
| MotionPlanning: | |||
| collapsed: false | |||
| MotionPlanning - Trajectory Slider: | |||
| collapsed: false | |||
| QMainWindow State: 000000ff00000000fd0000000100000000000002a2000003c2fc0200000007fb000000100044006900730070006c006100790073010000003d000001f0000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000233000001cc0000017d00ffffff000004d8000003c200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 | |||
| Views: | |||
| collapsed: false | |||
| Width: 1920 | |||
| X: 1920 | |||
| Y: 0 | |||
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stretch_moveit_config/launch/moveit_rviz.launch
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| @ -1,15 +0,0 @@ | |||
| <launch> | |||
| <arg name="debug" default="false" /> | |||
| <arg unless="$(arg debug)" name="launch_prefix" value="" /> | |||
| <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" /> | |||
| <arg name="rviz_config" default="$(find stretch_moveit_config)/launch/moveit.launch" /> | |||
| <arg if="$(eval rviz_config=='')" name="command_args" value="" /> | |||
| <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" /> | |||
| <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" | |||
| args="$(arg command_args)" output="screen"> | |||
| </node> | |||
| </launch> | |||
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stretch_moveit_config/launch/ompl_planning_pipeline.launch.xml
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| @ -1,24 +0,0 @@ | |||
| <launch> | |||
| <!-- OMPL Plugin for MoveIt --> | |||
| <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" /> | |||
| <!-- The request adapters (plugins) used when planning with OMPL. | |||
| ORDER MATTERS --> | |||
| <arg name="planning_adapters" | |||
| value="default_planner_request_adapters/AddTimeParameterization | |||
| default_planner_request_adapters/FixWorkspaceBounds | |||
| default_planner_request_adapters/FixStartStateBounds | |||
| default_planner_request_adapters/FixStartStateCollision | |||
| default_planner_request_adapters/FixStartStatePathConstraints" | |||
| /> | |||
| <arg name="start_state_max_bounds_error" value="0.1" /> | |||
| <param name="planning_plugin" value="$(arg planning_plugin)" /> | |||
| <param name="request_adapters" value="$(arg planning_adapters)" /> | |||
| <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> | |||
| <rosparam command="load" file="$(find stretch_moveit_config)/config/ompl_planning.yaml"/> | |||
| </launch> | |||
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stretch_moveit_config/launch/planning_context.launch
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| @ -1,25 +0,0 @@ | |||
| <launch> | |||
| <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior --> | |||
| <arg name="load_robot_description" default="false"/> | |||
| <!-- The name of the parameter under which the URDF is loaded --> | |||
| <arg name="robot_description" default="robot_description"/> | |||
| <!-- Load universal robot description format (URDF) --> | |||
| <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find stretch_description)/urdf/stretch_description.xacro'"/> | |||
| <!-- The semantic description that corresponds to the URDF --> | |||
| <param name="$(arg robot_description)_semantic" textfile="$(find stretch_moveit_config)/config/stretch_description.srdf" /> | |||
| <!-- Load updated joint limits (override information from URDF) --> | |||
| <group ns="$(arg robot_description)_planning"> | |||
| <rosparam command="load" file="$(find stretch_moveit_config)/config/joint_limits.yaml"/> | |||
| </group> | |||
| <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace --> | |||
| <group ns="$(arg robot_description)_kinematics"> | |||
| <rosparam command="load" file="$(find stretch_moveit_config)/config/kinematics.yaml"/> | |||
| </group> | |||
| </launch> | |||
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stretch_moveit_config/launch/planning_pipeline.launch.xml
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| @ -1,10 +0,0 @@ | |||
| <launch> | |||
| <!-- This file makes it easy to include different planning pipelines; | |||
| It is assumed that all planning pipelines are named XXX_planning_pipeline.launch --> | |||
| <arg name="pipeline" default="ompl" /> | |||
| <include file="$(find stretch_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" /> | |||
| </launch> | |||
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stretch_moveit_config/launch/ros_controllers.launch
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| @ -1,11 +0,0 @@ | |||
| <?xml version="1.0"?> | |||
| <launch> | |||
| <!-- Load joint controller configurations from YAML file to parameter server --> | |||
| <rosparam file="$(find stretch_moveit_config)/config/ros_controllers.yaml" command="load"/> | |||
| <!-- Load the controllers --> | |||
| <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" | |||
| output="screen" args=""/> | |||
| </launch> | |||
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stretch_moveit_config/launch/run_benchmark_ompl.launch
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| @ -1,21 +0,0 @@ | |||
| <launch> | |||
| <!-- This argument must specify the list of .cfg files to process for benchmarking --> | |||
| <arg name="cfg" /> | |||
| <!-- Load URDF --> | |||
| <include file="$(find stretch_moveit_config)/launch/planning_context.launch"> | |||
| <arg name="load_robot_description" value="true"/> | |||
| </include> | |||
| <!-- Start the database --> | |||
| <include file="$(find stretch_moveit_config)/launch/warehouse.launch"> | |||
| <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/> | |||
| </include> | |||
| <!-- Start Benchmark Executable --> | |||
| <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen"> | |||
| <rosparam command="load" file="$(find stretch_moveit_config)/config/ompl_planning.yaml"/> | |||
| </node> | |||
| </launch> | |||
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stretch_moveit_config/launch/sensor_manager.launch.xml
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| @ -1,17 +0,0 @@ | |||
| <launch> | |||
| <!-- This file makes it easy to include the settings for sensor managers --> | |||
| <!-- Params for 3D sensors config --> | |||
| <rosparam command="load" file="$(find stretch_moveit_config)/config/sensors_3d.yaml" /> | |||
| <!-- Params for the octomap monitor --> | |||
| <!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> --> | |||
| <param name="octomap_resolution" type="double" value="0.025" /> | |||
| <param name="max_range" type="double" value="5.0" /> | |||
| <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter --> | |||
| <arg name="moveit_sensor_manager" default="stretch_description" /> | |||
| <include file="$(find stretch_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" /> | |||
| </launch> | |||
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stretch_moveit_config/launch/setup_assistant.launch
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| @ -1,15 +0,0 @@ | |||
| <!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded --> | |||
| <launch> | |||
| <!-- Debug Info --> | |||
| <arg name="debug" default="false" /> | |||
| <arg unless="$(arg debug)" name="launch_prefix" value="" /> | |||
| <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" /> | |||
| <!-- Run --> | |||
| <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" | |||
| args="--config_pkg=stretch_moveit_config" | |||
| launch-prefix="$(arg launch_prefix)" | |||
| output="screen" /> | |||
| </launch> | |||
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stretch_moveit_config/launch/stretch_description_moveit_controller_manager.launch.xml
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| @ -1,10 +0,0 @@ | |||
| <launch> | |||
| <!-- loads moveit_controller_manager on the parameter server which is taken as argument | |||
| if no argument is passed, moveit_simple_controller_manager will be set --> | |||
| <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> | |||
| <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> | |||
| <!-- loads ros_controllers to the param server --> | |||
| <rosparam file="$(find stretch_moveit_config)/config/ros_controllers.yaml"/> | |||
| </launch> | |||
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stretch_moveit_config/launch/stretch_description_moveit_sensor_manager.launch.xml
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| @ -1,3 +0,0 @@ | |||
| <launch> | |||
| </launch> | |||
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stretch_moveit_config/launch/trajectory_execution.launch.xml
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| @ -1,20 +0,0 @@ | |||
| <launch> | |||
| <!-- This file makes it easy to include the settings for trajectory execution --> | |||
| <!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers --> | |||
| <arg name="moveit_manage_controllers" default="true"/> | |||
| <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/> | |||
| <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution --> | |||
| <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 --> | |||
| <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) --> | |||
| <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 --> | |||
| <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state --> | |||
| <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 --> | |||
| <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter --> | |||
| <arg name="moveit_controller_manager" default="stretch_description" /> | |||
| <include file="$(find stretch_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" /> | |||
| </launch> | |||
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stretch_moveit_config/launch/warehouse.launch
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| @ -1,15 +0,0 @@ | |||
| <launch> | |||
| <!-- The path to the database must be specified --> | |||
| <arg name="moveit_warehouse_database_path" /> | |||
| <!-- Load warehouse parameters --> | |||
| <include file="$(find stretch_moveit_config)/launch/warehouse_settings.launch.xml" /> | |||
| <!-- Run the DB server --> | |||
| <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo"> | |||
| <param name="overwrite" value="false"/> | |||
| <param name="database_path" value="$(arg moveit_warehouse_database_path)" /> | |||
| </node> | |||
| </launch> | |||
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stretch_moveit_config/launch/warehouse_settings.launch.xml
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| @ -1,16 +0,0 @@ | |||
| <launch> | |||
| <!-- Set the parameters for the warehouse and run the mongodb server. --> | |||
| <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) --> | |||
| <arg name="moveit_warehouse_port" default="33829" /> | |||
| <!-- The default DB host for moveit --> | |||
| <arg name="moveit_warehouse_host" default="localhost" /> | |||
| <!-- Set parameters for the warehouse --> | |||
| <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/> | |||
| <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/> | |||
| <param name="warehouse_exec" value="mongod" /> | |||
| <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" /> | |||
| </launch> | |||
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stretch_moveit_config/package.xml
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| @ -1,34 +0,0 @@ | |||
| <package> | |||
| <name>stretch_moveit_config</name> | |||
| <version>0.3.0</version> | |||
| <description> | |||
| An automatically generated package with all the configuration and launch files for using the stretch_description with the MoveIt Motion Planning Framework | |||
| </description> | |||
| <author email="davidvlu@gmail.com">David V. Lu!!</author> | |||
| <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer> | |||
| <license>Apache License 2.0</license> | |||
| <url type="website">http://moveit.ros.org/</url> | |||
| <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url> | |||
| <url type="repository">https://github.com/ros-planning/moveit</url> | |||
| <buildtool_depend>catkin</buildtool_depend> | |||
| <run_depend>joint_state_publisher</run_depend> | |||
| <run_depend>joint_state_publisher_gui</run_depend> | |||
| <run_depend>moveit_fake_controller_manager</run_depend> | |||
| <run_depend>moveit_kinematics</run_depend> | |||
| <run_depend>moveit_planners_ompl</run_depend> | |||
| <run_depend>moveit_ros_move_group</run_depend> | |||
| <run_depend>moveit_ros_visualization</run_depend> | |||
| <run_depend>moveit_setup_assistant</run_depend> | |||
| <run_depend>moveit_simple_controller_manager</run_depend> | |||
| <run_depend>robot_state_publisher</run_depend> | |||
| <run_depend>stretch_description</run_depend> | |||
| <run_depend>tf2_ros</run_depend> | |||
| <run_depend>xacro</run_depend> | |||
| <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. --> | |||
| <!-- <run_depend>warehouse_ros_mongo</run_depend> --> | |||
| </package> | |||